Related papers: RoEL: Robust Event-based 3D Line Reconstruction
Due to inevitable noises introduced during scanning and quantization, 3D reconstruction via RGB-D sensors suffers from errors both in geometry and texture, leading to artifacts such as camera drifting, mesh distortion, texture ghosting, and…
Event cameras rely on motion to obtain information about scene appearance. This means that appearance and motion are inherently linked: either both are present and recorded in the event data, or neither is captured. Previous works treat the…
As critical visual details become obscured, the low visibility and high ISO noise in extremely low-light images pose a significant challenge to human pose estimation. Current methods fail to provide high-quality representations due to…
The human eye consists of two types of photoreceptors, rods and cones. Rods are responsible for monochrome vision, and cones for color vision. The number of rods is much higher than the cones, which means that most human vision processing…
The advances in 3D reconstruction technology, such as photogrammetry and LiDAR scanning, have made it easier to reconstruct accurate and detailed 3D models for urban scenes. Nevertheless, these reconstructed models often contain a large…
Detecting outliers or anomalies is a common data analysis task. As a sub-field of unsupervised machine learning, a large variety of approaches exist, but the vast majority treats the input features as independent and often fails to…
Accurate depth estimation under adverse night conditions has practical impact and applications, such as on autonomous driving and rescue robots. In this work, we studied monocular depth estimation at night time in which various adverse…
The reliability of Simultaneous Localization and Mapping (SLAM) is severely constrained in environments where visual inputs suffer from noise and low illumination. Although recent 3D Gaussian Splatting (3DGS) based SLAM frameworks achieve…
Line detection is widely used in many robotic tasks such as scene recognition, 3D reconstruction, and simultaneous localization and mapping (SLAM). Compared to points, lines can provide both low-level and high-level geometrical information…
The majority of existing large 3D shape datasets contain meshes that lend themselves extremely well to visual applications such as rendering, yet tend to be topologically invalid (i.e, contain non-manifold edges and vertices, disconnected…
Reconstructing 3D hand mesh is challenging but an important task for human-computer interaction and AR/VR applications. In particular, RGB and/or depth cameras have been widely used in this task. However, methods using these conventional…
Robust perception is an essential component to enable long-term operation of mobile robots. It depends on failure resilience through reliable sensor data and preprocessing, as well as failure awareness through introspection, for example the…
This paper presents an algorithm to obtain an event-based video from noisy frames given by physics-based Monte Carlo path tracing over a synthetic 3D scene. Given the nature of dynamic vision sensor (DVS), rendering event-based video can be…
Identifying changes in a pair of 3D aerial LiDAR point clouds, obtained during two distinct time periods over the same geographic region presents a significant challenge due to the disparities in spatial coverage and the presence of noise…
We study the problem of estimating optical flow from event cameras. One important issue is how to build a high-quality event-flow dataset with accurate event values and flow labels. Previous datasets are created by either capturing real…
Active depth sensors like structured light, lidar, and time-of-flight systems sample the depth of the entire scene uniformly at a fixed scan rate. This leads to limited spatio-temporal resolution where redundant static information is…
Millimeter-wave radar enables robust environment perception in autonomous systems under adverse conditions yet suffers from sparse, noisy point clouds with low angular resolution. Existing diffusion-based radar enhancement methods either…
Robust and flexible event representations are important to many core areas in language understanding. Scripts were proposed early on as a way of representing sequences of events for such understanding, and has recently attracted renewed…
Robot manipulation is a common task in fields like industrial manufacturing. Detecting when objects slip from a robot's grasp is crucial for safe and reliable operation. Event cameras, which register pixel-level brightness changes at high…
Collaborative 3D object detection exploits information exchange among multiple agents to enhance accuracy of object detection in presence of sensor impairments such as occlusion. However, in practice, pose estimation errors due to imperfect…